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<div class="title">rviz_visualize.cpp</div>  </div>
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<a href="rviz__visualize_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;vis_and_log/rviz_visualize.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;__VISUALIZE_MARKER__::__VISUALIZE_MARKER__(std::string name,std::string type,std::string marker_type,std::string refresh_method){</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    ros::NodeHandle nh;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    <span class="keywordflow">if</span>(type==<span class="stringliteral">&quot;marker&quot;</span>){</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;        pub =  std::make_shared&lt;ros::Publisher&gt;(nh.advertise&lt;visualization_msgs::Marker&gt;(name, 1));</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    }</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    refresh_mode = refresh_method;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    marker.header.frame_id=<span class="stringliteral">&quot;map&quot;</span>;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    marker.header.seq=0;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    marker.header.stamp=ros::Time::now();</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    marker.ns=name;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    marker.id=0;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    marker.type=visualization_msgs::Marker::CUBE;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;cube&quot;</span>)marker.type=visualization_msgs::Marker::CUBE;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;arrow&quot;</span>)marker.type=visualization_msgs::Marker::ARROW;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;cylinder&quot;</span>)marker.type=visualization_msgs::Marker::CYLINDER;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;line_strip&quot;</span>)marker.type=visualization_msgs::Marker::LINE_STRIP;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;line_list&quot;</span>)marker.type=visualization_msgs::Marker::LINE_LIST;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordflow">if</span>(marker_type==<span class="stringliteral">&quot;point&quot;</span>)marker.type=visualization_msgs::Marker::POINTS;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    marker.scale.x=0.2;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    marker.scale.y=0.2;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    marker.scale.z=0.2;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">if</span>(marker.type==visualization_msgs::Marker::POINTS)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        marker.scale.z=0;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    marker.color.r=0;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    marker.color.b=1;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    marker.color.g=0;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    marker.color.a=1;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keywordtype">void</span> __VISUALIZE_MARKER__::set_attribue(<span class="keywordtype">double</span> r,<span class="keywordtype">double</span> g,<span class="keywordtype">double</span> b){</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    marker.color.r=r;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    marker.color.g=g;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    marker.color.b=b;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keywordtype">void</span> __VISUALIZE_MARKER__::set_attribue(<span class="keywordtype">double</span> r,<span class="keywordtype">double</span> g,<span class="keywordtype">double</span> b,<span class="keywordtype">double</span> a){</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    marker.color.r=r;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    marker.color.g=g;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    marker.color.b=b;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    marker.color.a=a;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;}</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keywordtype">void</span> __VISUALIZE_MARKER__::set_attribue(<span class="keywordtype">double</span> r,<span class="keywordtype">double</span> g,<span class="keywordtype">double</span> b,<span class="keywordtype">double</span> a,<span class="keywordtype">double</span> scale_x,<span class="keywordtype">double</span> scale_y,<span class="keywordtype">double</span> scale_z){</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    marker.scale.x=scale_x;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    marker.scale.y=scale_y;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    marker.scale.z=scale_z;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    marker.color.a=a;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    marker.color.r=r;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    marker.color.g=g;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    marker.color.b=b;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;std::shared_ptr&lt;__VISUALIZE_MARKER__&gt; __VISUALIZE_MARKER__::init(std::string name,std::string type,std::string marker_type,std::string refresh_method){</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> std::make_shared&lt;__VISUALIZE_MARKER__&gt;(__VISUALIZE_MARKER__(name,type,marker_type,refresh_method));</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> __VISUALIZE_MARKER__::set_quat(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> y,<span class="keywordtype">double</span> z,<span class="keywordtype">double</span> w){</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    marker.pose.orientation.x=x;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    marker.pose.orientation.y=y;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    marker.pose.orientation.z=z;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    marker.pose.orientation.w=w;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div></div><!-- fragment --></div><!-- contents -->
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